Rotation detection device, method, and program

Abstract

To provide a rotation detection device, etc. with which it is possible to detect a more accurate angle of rotation of a rotor.SOLUTION: A rotation detection device pertaining to an embodiment comprises: an angular velocity sensor which is attached to a rotor that rotationally moves and is constituted so as to detect an angular velocity of the rotor; and at least one processor which is constituted so as to exercise control based on the angular speed detected by the angular velocity sensor. The least one processor is constituted so as to execute a process for calculating a first angle of the rotor before rotational operation is exerted on the rotor on the basis of the angular velocity sensor and a second angle of the rotor after the rotational operation is exerted.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] The present invention relates to a rotation detection device, method, and program for detecting the rotation angle of a rotating body that rotates.

Background Art

[0002] There is known a device that is attached to a rotating body that rotates around an axis, such as a hinged door, and detects the rotation angle of the rotating body based on the acceleration detected by an acceleration sensor and the distance from the acceleration sensor to a hinge that gives the rotation axis of the rotating body. For example, Patent Document 1 discloses a device that detects the rotation angle of a rotating body using an acceleration sensor in this manner. However, with such a device, it may not be possible to detect the exact rotation angle of the rotating body by using an acceleration sensor.

Prior Art Documents

Patent Documents

[0006] Furthermore, the method according to the embodiment is a method performed by having the at least one processor execute a predetermined instruction command in a computer including an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, the method comprising the steps of calculating a first angle of the rotating body before a rotation operation is performed on the rotating body and a second angle of the rotating body after the rotation operation is performed, based on the angular velocity sensor.

[0007] Furthermore, the program according to the embodiment causes a computer, which includes an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, to function as a processor configured to perform a process of calculating a first angle of the rotating body before a rotation operation is performed on the rotating body and a second angle of the rotating body after the rotation operation is performed, based on the angular velocity sensor. [Effects of the Invention]

[0008] According to this embodiment, a rotation detection device and the like that can detect the rotation angle of a rotating body with greater accuracy can be provided. [Brief explanation of the drawing]

[0009]

Figure 1

Figure 2A

Figure 2B

Figure 3A

Figure 3B

Figure 4A

Figure 4B

Figure 4C

Figure 5

Figure 6A

Figure 6B

Figure 6C

Figure 7

Figure 8

Figure 9

Figure 10A

Figure 10B

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0010] [First Embodiment] The first embodiment of the present disclosure will be described with reference to the accompanying drawings. In the drawings, common components and processes are denoted by the same reference numerals. Further, hereinafter, portions that are opened or closed by a door, covered by a lid, or exposed, such as an opening provided as an entrance / exit on the wall surface of a dwelling, an opening of a household refrigerator, and a portion of a keyboard of a notebook PC, may be collectively referred to as an opening. Further, hereinafter, an object that rotates around a rotation axis, such as these doors and lids, is collectively referred to as a rotating body. Note that the rotation axis of the rotating body does not necessarily have to be one, and an object that rotates around a plurality of axes is also included in the rotating body. Also, the angular velocity of rotation is described as the rotational angular velocity, and the angle of rotation is described as the rotation angle.

[0011] Also, n is a positive integer, and i is an integer from 1 to n. Further, both the state in which the opening is open and the state in which the rotating body closes the opening are collectively referred to as an open state. Also, both the state in which the opening is closed and the state in which the rotating body closes the opening are collectively referred to as a closed state. Further, in the following description, there is no substantial difference between "below" and "less than", and between "above" and "greater than".

[0012] 1. Outline of the system according to the present disclosure For example, openings through which people enter and exit, such as entrances / exits of dwellings, automobiles, and animal breeding rooms, are generally opened and closed by a hinged door that rotates around an axis perpendicular to the floor. Also, for example, openings of household appliances such as a horizontally-opening household refrigerator and a horizontally-opening microwave oven are also opened and closed by a hinged door that rotates around an axis perpendicular to the floor.

[0013] On the other hand, for example, parts such as the platen glass located on the top surface of a copier are covered or exposed by a lid or automatic document feeder (ADF) that rotates on an axis horizontal to the floor. Also, for example, the keyboard part of a notebook PC has a display positioned on the surface opposite the keyboard when closed, and is opened and closed by a lid that rotates on an axis horizontal to the floor. As described above, openings in various objects are opened and closed by rotating bodies such as doors and lids that rotate around an axis. It should be noted that although it is written here that the axis rotates around an axis horizontal to the floor, it is naturally not limited to this. For example, the axis may be in a twisted position other than horizontal to the floor.

[0014] If doors that open and close the entrances to residences, doors that open and close the entrances to animal enclosures, and doors that open and close the openings of refrigerators remain open against the user's will, various problems can occur, such as theft, animal escape, and spoilage of refrigerated goods. Therefore, it is extremely important to detect whether such openings are closed by a rotating body such as a door, or whether they are open. The rotation detection device 100 according to the embodiment described below is configured to accurately detect whether an opening is closed by a rotating body, or whether it is open, based on the angle of the rotating body.

[0015] 2. Configuration of System 1 Figure 1 is a diagram illustrating the configuration of a system 1 including a rotation detection device 100 according to an embodiment. As shown in Figure 1, the system 1 includes a rotation detection device 100 and an external device 200. For example, the external device 200 includes an administrator terminal device for an administrator who manages home appliances, surveillance cameras (security cameras), facilities where the rotating body 20 is located, a user terminal device for a user who uses the rotating body 20, a vehicle including a door as the rotating body 20, a container including a lid as the rotating body 20, and a locking / unlocking control device or a combination thereof that controls the locking and unlocking (locking and unlocking) of a lock attached to the rotating body 20 using the rotation detection device 100.

[0016] The rotation detection device 100, the home appliance, the administrator terminal device, the user terminal device, and the locking / unlocking control device, etc., may be connected to each other via a network including wired communication lines such as the Internet and wireless communication lines, enabling them to send and receive information from one another. Hereinafter, the home appliance, the administrator terminal device, the user terminal device, and the locking / unlocking control device may be collectively referred to as the external device 200. The rotation detection device 100 and the external device 200 may be configured as a single unit or as separate units.

[0017] 3. Configuration of the rotation detection device 100 Figure 2A is a block diagram showing an example of the configuration of the rotation detection device 100 according to the embodiment shown in Figure 1. Note that the rotation detection device 100 does not need to include all of the components shown in Figure 2A; it is possible to omit some components or add other components.

[0018] As shown in Figure 2A, the rotation detection device 100 includes a memory 111 containing RAM, ROM, non-volatile memory, HDD, etc., a processor 112 consisting of a CPU, etc., a communication interface (communication IF) 114, and an angular velocity sensor 115. These components are electrically connected to each other via control lines and data lines. The memory 111 may also include a database or external storage device connected via the communication interface 114, etc. In other words, the rotation detection device 100 is a computer equipped with an angular velocity sensor 115 in addition to the memory 111, processor 112, and communication interface 114.

[0019] Memory 111 includes RAM, ROM, non-volatile memory, and HDD, and functions as a storage unit. Memory 111 stores instruction commands as programs for executing applications and operating systems related to this disclosure. Such programs are loaded into memory 111 by the processor 112 via a communication interface 114 from a recording medium or network, and then executed.

[0020] Furthermore, in this disclosure, the memory 111 (in particular RAM) is temporarily used to write and read data while the program is being executed by the processor 112.

[0021] Furthermore, in this disclosure, the memory 111 stores a program that causes it to function as a processor configured to calculate a first angle of the rotating body 20 before a rotation operation is performed on the rotating body 20 based on the angular velocity sensor 115, and a second angle of the rotating body 20 after the rotation operation is performed, and to perform a process to detect if the rotating body 20 is in an open state based on the first angle, the second angle, and a predetermined threshold.

[0022] The processor 112 consists of a CPU (microcomputer) and functions as a control unit for controlling other connected components based on various programs stored in the memory 111. The processor 112 may consist of a single CPU or multiple CPUs.

[0023] Furthermore, in this disclosure, the processor 112 calculates a first angle of the rotating body 20 before a rotation operation is performed on the rotating body 20 and a second angle of the rotating body 20 after the rotation operation is performed, based on the angular velocity sensor 115, and executes a program to perform a process to detect that the rotating body 20 is in an open state based on the first angle, the second angle, and a predetermined threshold.

[0024] The communication interface 114 functions as a communication unit that performs processing such as modulation and demodulation in order to send and receive programs, various information, etc., used in the rotation detection device 100 with, for example, a PC and a server device (not shown). The communication interface 114 communicates with the PC and the server device, etc., according to the above-mentioned wireless communication method or a known wired communication method. In this disclosure, the rotation detection device 100 transmits information such as whether the opening is in a closed state or an open state to the PC or the server device, etc., via the communication interface 114.

[0025] Furthermore, the communication interface 114 communicates with an external device 200 connected via a network. Communication with the external device via the communication interface 114 includes transmitting control signals to and receiving signals from a home appliance, which is installed in a facility such as a residence where the rotation detection device 100 is mounted, and which is controlled in accordance with the detection of the closed or open state of a rotating body 20, such as a door, by the rotation detection device 100. Communication with the external device also includes sending and receiving information with an administrator terminal device of an administrator managing the facility such as a residence where the rotating body is installed. Furthermore, communication with the external device includes sending and receiving information with a user terminal device of a user who manually operates and rotates the rotating body 20. Finally, communication with the external device also includes sending and receiving information with a locking / unlocking control device that controls the locking and unlocking of the lock on the rotating body 20 using the rotation detection device 100.

[0026] The angular velocity sensor 115 is attached to the rotating body 20 and functions as a detection unit for detecting the angular velocity of the rotating body 20. Such an angular velocity sensor 115 is, for example, a gyro sensor. The angular velocity sensor 115 has three mutually orthogonal axes Xas, Yas, and Zas that are pre-set. The angular velocity sensor 115 is started from a stopped state and becomes operational under the control of the processor 112, and consumes power to detect the rotational angular velocity of the rotation detection device 100. ω The angular velocity sensor 115 detects the rotational angular velocity of the rotation detection device 100 under the control of the processor 112. ω Detection stops, and the device enters a stopped state that does not consume power.

[0027] 4. Configuration of the external device 200 Figure 2B is a block diagram showing an example of the configuration of the information processing portion of the external device 200 shown in Figure 1. Note that the external device 200 does not need to include all the components shown in Figure 2A; it is possible to omit some components or add other components. Furthermore, hereafter, "the information processing portion of the external device 200" will be abbreviated as "external device 200".

[0028] According to Figure 2B, the external device 200 includes a memory 211, a processor 212, a display 213, a communication processing circuit 215, a communication interface 214 including an antenna, a touch panel 217, and an input interface 216 including hard keys 218. These components are electrically connected to each other via control lines and data lines. The touch panel 217 and hard keys 218 may be installed outside the external device 200 and connected via the input interface 216, or they may be included within the external device 200 and connected via the input interface 216.

[0029] The processor 212 consists of a CPU and its peripheral circuits, and performs processing to function as a control unit that controls other connected components based on various programs stored in the memory 211. Specifically, the processor 212 reads and executes programs from the memory 211 for processing signals received from the rotation detection device 100 and programs for executing the OS. In this embodiment, the processor 212 performs processing to receive signals from the rotation detection device 100 indicating whether the rotating body 20 is in an open or closed state via the communication interface 214. The processor 212 also notifies the user of the external device 200 whether the rotating body 20 is in an open or closed state by displaying an image on the display 213 and outputting audio from the speaker built into the display 213.

[0030] Furthermore, the processor 212 receives operations performed by the user on the touch panel 217 and hard keys 218 via the input interface 216, and transmits information indicating the received operations to the rotation detection device 100 via the communication interface 214. The processor 212 may consist of a single CPU or multiple CPUs. In addition, the processor 212 may be configured by appropriately combining other types of processors, such as a GPU specialized for image processing.

[0031] Memory 211 consists of ROM, RAM, non-volatile memory, HDD, etc., and functions as a storage unit. ROM stores instruction commands for executing applications and the OS according to this embodiment as programs. RAM is memory used for writing and reading data while the program stored in ROM is being processed by the processor 212. Non-volatile memory is memory in which data is written and read as a result of the execution of the program, and the data written therein is retained even after the execution of the program has finished.

[0032] In this embodiment, the memory 211 stores a program for processing a signal from the rotation detection device 100 indicating whether the rotating body 20 is in an open or closed state, via the communication interface 214, and a program for processing a process to notify the user of the external device 200 of whether the rotating body 20 is in an open or closed state by displaying an image on the display 213 and outputting audio from the speaker built into the display 213. Although not specifically shown in the figures, the memory 211 may be connected to a removable storage medium or database via the input interface 216.

[0033] The communication interface 214 functions as a communication unit that transmits and receives information with other external devices besides the rotation detection device 100 and the external device 200, which are installed remotely, via the communication processing circuit 215 and the antenna. The communication processing circuit 215 performs processing for a program to execute information processing according to this embodiment, and for transmitting and receiving information indicating the open or closed state of the rotating body 20 with the external device 200.

[0034] The communication processing circuit 215 processes data based on a wideband wireless communication method such as LTE, but it can also process data based on a narrowband wireless communication method such as Wi-Fi (e.g., IEEE 802.11) or Bluetooth®. Furthermore, wired communication can be used in addition to or instead of wireless communication.

[0035] The input interface 216 is connected to the touch panel 217 and hard keys 218 by wire or wireless connection and functions as an input / output unit that inputs and outputs various types of information. Examples of input interfaces 216 include serial ports, parallel ports, USB, and various other methods. In the case of wireless connection (for example, Bluetooth®), it is also possible to use the same function as the communication interface 214.

[0036] The external device 200 is connected to various components such as the touch panel 117 and hard keys 218 via the input interface 216. The external device 200 may or may not include these components.

[0037] The touch panel 217 is positioned, for example, to cover the display 213 and outputs position coordinate information corresponding to the image data displayed by the display 213 to the processor 212. Known touch panel methods such as resistive touch, capacitive coupling, and ultrasonic surface acoustic wave touch can be used. In this embodiment, the touch panel 217 detects swipe and tap operations on each icon displayed on the display 213 using an indicator. Then, it is detected that an input related to the speed of movement has been made in response to the detected tap operation. In this embodiment, an input interface 216 provided in an external device 200 is used, but it is also possible to use an input interface 216 that is wirelessly or wiredly connected to the main unit containing the processor 212, etc.

[0038] The hard keys 218 include mechanical switches and buttons, and accept user input from the external device 200 and output it to the processor 212.

[0039] The display 213 incorporates a speaker and functions as a display unit that, in response to instructions from the processor 212, displays image information stored in the memory 211 and the open or closed state of the rotating body 20 received from the rotation detection device 100. The display 213 is composed of, for example, a liquid crystal display or an organic EL display.

[0040] 5. Method for detecting the open and closed states of the rotating body 20 Figures 3A and 3B are the first and second diagrams illustrating a rotation detection device 100 attached to a rotating body 20, such as a door for a house or home appliance, or the lid of a notebook PC. In Figures 3A and 3B, a rectangular, thin rotating body 20 is illustrated, where the direction parallel to the short side of the rectangular face of the rotating body 20 is the X direction, the direction parallel to the long side of the rectangular face of the rotating body 20 is the Z direction, and the direction perpendicular to both the X and Z directions is the Y direction.

[0041] In other words, an X,Y,Z coordinate system can be defined for the rotating body 20, as shown in Figures 3A and 3B. As shown in Figure 3B, a hinge 22 having a rotation axis parallel to the Z axis is attached to the rotating body 20, and the rotating body 20 can rotate around the axis of the hinge 22. When the rotating body 20 is a door at the entrance of a house, the hinge 22 fixes the door to the entrance and rotates the door around its axis when a user manually pushes the door to rotate it.

[0042] Next, the rotational angular velocity detected by the angular velocity sensor 115 ω From, rotation angle θ and its size | θ The method for calculating | will be explained below. Furthermore, the processor 112 controls the angular velocity sensor 115 to measure the rotational angular velocity of the rotating body 20 at time intervals of Δt, between time t0~ti-1 and ti~tn. ω A specific example is the detection of [the specified variable]. For instance, Δt is 50 ms, and the time T between t0 and tn is 10 seconds.

[0043] The angular velocity detected by the angular velocity sensor 115 at time ti, after a time Δt × i has elapsed from time t0. ωi is the component around each of the axes Xas, Yas, and Zas. ω iX, ω iY, ω This includes iZ. Therefore, the angular velocity detected by the angular velocity sensor 115 at time ti is ω i is expressed using a vector, ω i=( ω iX, ω iY, ω It can be expressed as iZ). Similarly, the rotation angle of the solid of revolution 20 at time ti. θ i is also a component around the axes Xas, Yas, and Zas, respectively. θ iX, θ iY, θ Since it includes iZ, we can use a vector. θ i=( θ iX, θ iY, θ It can be represented as iZ.

[0044] As described above, Figures 3A and 3B show X, Y, and Z coordinate axes that are perpendicular to each other. However, the directions of these X, Y, and Z coordinate axes are unrelated to the directions of the Xas, Yas, and Zas axes set in the angular velocity sensor 115 of the rotation detection device 100 described above, and they usually do not coincide. Therefore, even when the rotating body 20 rotates around the Z axis, the angular velocity detected by the angular velocity sensor 115 at time ti is different. ω i is a component of the angular velocity around the Zas axis. ω iZ, as well as ingredients ω iX, ω iY, ω It could encompass everything about iZ.

[0045] In this case, after the start of detecting the angular velocity of the rotating body 20, the rotation angle of the rotating body 20 at time ti θ The value of i is the rotation angle of the solid of revolution 20 at time ti-1. θ The value obtained by adding the angular velocity ωi detected at time ti multiplied by the time interval Δt to i-1. θ i-1+Δt× ωi It can be expressed as: θi = θ i-1+Δt× [[ID= i is therefore this value​ i is the angular velocity of rotation of the rotating body 20. ​ It is approximately equal to the time integral value over time t0 to ti.

[0046] Rotation angle of the revolving body 20 at time ti ​ Components of i around the Xas axis ​ iX is the rotation angle of the solid of revolution 20 at time ti-1. ​ i-1 components ​ i-1X is the angular velocity detected at time interval Δt and time i. ​ i component ​ Δt × (multiplied by ix) ​ This is the value with ix added. In other words, ​ iX= ​ i-1X+Δt× ​ ix, and this value ​ iX is the rotational angular velocity of the rotating body 20 between time t0 and ti. ​ Components around the Xas axis ​ It is approximately equal to the time integral of x.

[0047] Similarly, the rotation angle of the solid of revolution 20 at time ti ​ Components of i around the Yas axis ​ iY is the rotation angle of the solid of revolution 20 at time ti-1. ​ i-1 components ​ i-1Y is defined as the angular velocity detected at time interval Δt and time i. ​ i component ​ This is the value obtained by adding the product of iY, Δt × θix. ​ iY= ​ i-1Y+Δt× ​ iY is this value ​ iY is the angular velocity of rotation of the rotating body 20 between time t0 and ti. ​ Components around the Yas axis ​ It is approximately equal to the time integral of Y.

[0048] Similarly, the rotation angle of the solid of revolution 20 around the Zas axis at time ti. ​ i component ​ iZ is the rotation angle of the solid of revolution 20 at time ti-1. ​ i-1 components ​At i-1Z, the angular velocity detected at time interval Δt and time i. ​ i component ​ Multiplicative value of iZ Δt× ​ This is the value with ix added. In other words, ​ iZ= ​ i-1Z+Δt× ​ iZ, and this value ​ iZ is the angular velocity of rotation of the rotating body 20 between time t0 and ti. ​ Components around the Zas axis ​ It is approximately equal to the time integral of Z.

[0049] Also, the rotation angle of the revolving body 20 at time ti ​ Size of i | ​ i| is a vector ( ​ iX, ​ iY, ​ In the norm of iZ, that is, | ​ i|=( ​ iX2, ​ iY2, ​ iZ2)1 / 2. As explained above, the angular velocity sensor 115 is the rotational angular velocity of the rotating body 20 at time ti. ​ Each time i is detected, the processor 112 determines the rotation angle of the rotating body 20 at time ti. ​ Size of i | ​ i| can be calculated.

[0050] Figures 4A to 4C are the first to third diagrams illustrating the movement of the rotating body 20, which was in the normal position in the closed state, as it rotates in response to the rotation operation to open, and then returns to the normal position to close. Figure 5 shows the rotation angle of the rotating body 20 detected by the rotation detection device 100 when the rotating body 20 moves as shown in Figures 4A to 4C. ​ This is an example diagram. Note that, for illustrative purposes, in Figure 5 and other figures, the rotation angle of the rotating body 20 is shown. ​ Of these, only the rotation angle around the Zas axis is shown, while the rotation angles around the Xas and Yas axes are omitted. The following describes the case where the rotating body 20, which was in the normal position as shown in Figure 4A, rotates to the position shown in Figure 4B by a rotation operation, and is then returned to the normal position as shown in Figure 4C by a further rotation operation.

[0051] In this case, as shown in Figure 5, the rotation angle of the rotating body 20 ​ This is the origin of the rotation angle in the state at time t0 shown in Figure 4A. ​ Moving along the dotted line 220 from point o, if the range exceeds the pre-set threshold 227, it is determined that the rotating body 20 is in the open state. Furthermore, the rotation angle of the rotating body 20 in the state where the rotating body 20 is most widely open, as shown in Figure 4B. ​ It reaches a. When the rotating body 20 is closed by a rotation operation from the state shown in Figure 4B and returned to the normal position as shown in Figure 4C, the rotation angle of the rotating body 20 ​ It moves along the dotted line 221, to the origin. ​ Rotation angles included in the range of threshold 228 that gives a normal range from o ​ This leads to b.

[0052] Even when the rotating body 20 is returned from the open state to the normal position, the rotation angle ​ b is the origin ​ It does not necessarily coincide with 0, and the reason for the error is that there is an error in the angular velocity sensor 115, or the angular velocity sensor 115 is not accurate. ​ When detecting, it is affected by disturbances and noise, and the magnitude of the rotation angle | ​ This is because errors can occur in the calculation of |. As shown in Figure 5, the magnitude of the rotation angle of the rotating body 20 | ​ When | exceeds the threshold 227, the rotation detection device 100 can detect that the rotating body 20 is in the open state. Also, the magnitude of the rotation angle of the rotating body 20 | ​ When the value falls within a range of 228 or less, the rotation detection device 100 can detect that the rotating body 20 is in a closed state.

[0053] Figures 6A to 6C illustrate the movement of the rotating body 20, which was not in the normal position in the closed state, as it rotates in response to the rotation operation to open, and then returns to the normal position to close. Figure 7 shows the rotation angle of the rotating body 20 detected by the rotation detection device 100 when the rotating body 20 moves as shown in Figures 6A to 6C. ​This is an illustrative diagram. As shown by the solid line in Figure 6A, the rotating body 20 may not be in the normal position shown by the dotted line in the closed state, for reasons such as the user not properly closing the rotating body 20. The following explains the case in which the rotating body 20 is rotated from this position to the position shown by the solid line in Figure 6B to open, and then returned to the normal position shown by the solid line in Figure 6C through further rotation.

[0054] In this case, as shown in Figure 7, the rotation angle of the rotating body 20 ​ This is the origin of the rotation angle in the state shown by the solid line in Figure 6A. ​ Starting from 0 (first angle), if the rotational body 20 moves along the dotted line 222 and exceeds the range of the threshold 227, it can be determined that the rotating body 20 is in an open state. Furthermore, the rotational angle of the rotating body 20 in the state where the rotating body 20 is most open, as shown by the solid line in Figure 6B, is also determined. ​ It reaches c. When the rotating body 20 is closed by a rotation operation from the state shown by the solid line in Figure 6B and returned to the normal position shown by the solid line in Figure 6C, the rotation angle of the rotating body 20 ​ It moves along the dotted line 223 and, without passing through the range given by the threshold 228, to the origin. ​ Rotation angle outside the range given by threshold 228 from o ​ At point d, an offset of 224 may occur.

[0055] The reason for the offset 224 is that, as shown by the solid line in Figure 6C, the rotating body 20 has returned to its normal position, but as shown by the solid line in Figure 6A, the rotating body 20 was not in its normal position before being subjected to the rotation operation. In such cases, the rotation detection device 100, as shown by the dotted line in Figure 6C, detects the rotation angle of the rotating body 20 as if it had rotated beyond its normal position. ​ This is what is calculated. Therefore, if no countermeasures are taken, even though the rotating body 20 is actually in the normal position in the closed state, the rotation angle of the rotating body 20 will be calculated. ​ However, this does not fall within the range provided by the threshold 228. Therefore, in such cases, the rotation detection device 100 cannot detect that the rotating body 20 is in a closed state using only the threshold 228.

[0056] Figure 8 illustrates vectors 225 and 226 used by the rotation detection device 100 shown in Figure 2A to detect the open and closed states of the rotating body 20. To resolve this problem, first, the rotation detection device 100 detects the rotation angle of the rotating body 20. ​ Rotation angle when it exceeds the threshold of 227 ​ The vector of op (second angle) is 225 (=( ​ opX, ​ opY, ​ opZ); ​ The rotation detection device 100 stores the origin of the rotation of the rotating body 20. Furthermore, at the timing when it can be determined that the rotation of the rotating body 20 has finished, the rotation detection device 100 stores the origin of the rotation of the rotating body 20. ​ Rotation angle from o ​ d(=( ​ dX, ​ dY, ​ Vector 226(=( ​ dX- ​ oX, ​ dY- ​ oY, ​ dZ- ​ Calculate oZ).

[0057] Furthermore, the rotation detection device 100 calculates the dot product of vector 225 and vector 226 (=( ​ opX, × ( ​ dX- ​ oX), ​ opY× ​ dY- ​ oY), ​ opZ×( ​ dZ ​The dot product of oZ))) is calculated. When this dot product is negative, that is, when the difference in direction between vector 225 and vector 226 is within the range of 90° to 270°, the rotation detection device 100 also detects that the rotating body 20 has reached the closed state. For example, when the rotating body 20 may rotate by more than 90°, such as a door or the lid of a laptop computer, detecting the closed state of the rotating body 20 in this way is particularly effective. Note that in Figures 5, 7, and 8, examples are shown where thresholds 227 and 228 are different, but these thresholds may be the same. Also, threshold 228 can be optimized so that its magnitude does not exceed threshold 227.

[0058] In this way, the closed state of the rotating body 20 can be detected by using both the magnitude of vector 226 and the dot product of vectors 225 and 226. By using the dot product, it is possible to reliably detect that the rotating body 20 has changed from an open state to a closed state, even if the rotating body 20 has not opened or closed from its normal position. Furthermore, by using the dot product to detect the closed state, the rotation detection device 100 can detect that the rotating body 20 has entered a closed state without precise information on the timing when the rotating body 20 started rotating. Similarly, the rotation detection device 100 can detect whether the rotating body 20 is in an open state or a closed state, even if the rotation angles of the open and closed states of the rotating body 20 are not known in advance.

[0059] 6. Processing of the rotation detection device 100 The following describes the process S10 of the rotation detection device 100 with reference to Figure 9. Figure 9 is a diagram showing the processing flow of the rotation detection device 100 shown in Figure 2A. In step S100 shown in Figure 9, the rotation detection device 100 activates the angular velocity sensor 115 and starts the process of detecting whether the rotating body 20 is in an open or closed state.

[0060] In step S102, the rotation detection device 100 finally determines the rotational angular velocity of the rotating body 20. ​After measuring i, it is determined whether a predetermined time interval Δt (for example, 50 ms) has elapsed. The rotation detection device 100 proceeds to process S104 if time Δt has elapsed, and remains at process S102 if time has not elapsed.

[0061] In step S104, the rotation detection device 100 controls the angular velocity sensor 115 to determine the rotational angular velocity of the rotating body 20. ​ The rotational angular velocity i was measured. ​ Accept i.

[0062] In step S106, the rotation detection device 100 is set to the origin when S106 is first performed. ​ Set to 0, time interval Δt and rotational angular velocity ​ The multiplied value is added. When S106 is performed for the second time or later, the rotation angle of the revolving body 20 calculated up to that point is added. ​ i-1, rotational angular velocity ​ Add the product of i and the time interval Δt to get the rotational angular velocity. ​ The time integral value between time t0 and ti is the rotation angle ​ Calculate using i.

[0063] In step S108, the rotation detection device 100 detects the rotation angle ​ Size of i | ​ Determine whether i| is equal to or greater than the threshold value of 227 shown in Figures 5, 7, and 8. ​ When i| is greater than or equal to the threshold 227 (Y), the rotation detection device 100 proceeds to process S110; when i| is less than the threshold 227 (N), the rotation detection device 100 proceeds to process S116.

[0064] In step S110, the rotation detection device 100 uses the vector 225 shown in Figure 8. ​ It determines whether op) has already been memorized. The rotation detection device 100 determines the rotation angle ​ If op is already stored (Y), the process returns to S102; otherwise, it proceeds to S112.

[0065] In step S112, the rotation detection device 100 detects that the rotating body 20 is in the open state and transmits information indicating this to an external device located outside the rotation detection device 100 via the communication interface 114. Upon receiving this information, the external device of the rotation detection device 100 performs processing such as notifying the administrator of the rotating body 20 that the rotating body 20 is in the open state.

[0066] In step S114, the rotation detection device 100 detects the rotation angle calculated in the process of S106. ​ i is the rotation angle ​ Store it as an operation and return to processing S102.

[0067] In step S116, the rotation detection device 100 detects the rotation angle shown in Figure 8. ​ The dot product of vectors 225 and 226, which represent op, is calculated, and further, the rotation angle ​ The magnitude of vector d 226 is calculated. The rotation detection device 100 detects when the calculated dot product value is negative, or when the rotation angle ​ When vector d 226 is less than or equal to threshold 228 (Y), the process proceeds to S118, and if the calculated dot product value is not negative, or the rotation angle ​ When vector d226 is greater than the threshold 228 (N), the process proceeds to S122.

[0068] In step S118, the rotation detection device 100 detects if the calculated dot product value is negative, or if the rotation angle ​ The rotation detection device 100 determines whether the state in which vector d 226 is less than or equal to the threshold 228 has continued for a predetermined period of time, for example, 0.5 s (= Δt (50 ms) × 10) or longer. When this state has continued for a predetermined period of time or longer (Y), the rotation detection device 100 determines that the rotation of the rotating body 20 has ended and reached a stable state, and proceeds to the process in S120.

[0069] In step S120, the rotation detection device 100 detects that the rotating body 20 is in the closed state and transmits information indicating this to an external device via the communication interface 114. Upon receiving this information, the external device of the rotation detection device 100 performs processing such as notifying the administrator of the facility where the rotating body 20 is located that the rotating body 20 is in the closed state.

[0070] In step S122, the rotation detection device 100 determines whether a predetermined time T, for example 10s (=Δt(50ms)×200), which is a sufficiently long time for the opening and closing time of the rotating body 20, has elapsed since the execution of the process in S100. If time T has elapsed (Y), the rotation detection device 100 proceeds to the process in S124; otherwise, it returns to the process in S102 (N).

[0071] In step S124, the rotation detection device 100 determines that it is unable to detect whether the rotating body 20 is in an open or closed state, and that some kind of error has occurred. Furthermore, the rotation detection device 100 transmits error information indicating the occurrence of an error to the external device 200 via the communication interface 114.

[0072] The external device 200 may be a home appliance, such as a refrigerator, and the rotating body 20 may be its door. In this case, the refrigerator performs processing such as outputting an alarm sound to indicate that the door has been left open when it receives information indicating the door is open from the rotation detection device 100 for several minutes continuously.

[0073] Furthermore, the external device 200 could be an electrical appliance installed inside the building, such as a lighting fixture, and the rotating body 20 could be the entrance door of the building. When information that the door is open is received from the rotation detection device 100, the lighting fixture is turned on, and when information that the door is closed is received, the lighting fixture is turned off, and so on.

[0074] Furthermore, the external device 200 may be a surveillance camera, and the rotating body 20 may be the door of the entrance / exit of the monitored object. In this case, the surveillance camera takes a photograph of the entrance / exit of the monitored object when the information received from the rotation detection device 100 indicating the door is open changes to information indicating it is closed, and when the reverse change occurs, and captures and stores an image of the person who opened or closed the door.

[0075] Furthermore, the external device 200 is a combination of an administrator terminal device and a surveillance camera, and the rotating body 20 may be a door of a building managed by the administrator. The administrator terminal device outputs an alarm to the administrator when the information indicating the closed state of the door received from the rotation detection device 100 changes to information indicating the open state, and when the reverse change occurs. Also, when the information indicating the closed state of the door received from the rotation detection device 100 changes to information indicating the open state, and when the reverse change occurs, the surveillance camera takes a picture of the building door. Furthermore, the administrator terminal device displays the image of the area around the door taken by the surveillance camera to the administrator.

[0076] Furthermore, the external device 200 may be a user terminal device, and the rotating body 20 may be the door of the user's private car. The user terminal device detects an abnormality when it does not receive information from the rotation detection device 100 indicating that the rotating body 20 is in a closed state, even though the user has performed actions such as starting the engine of the private car or closing the door. It then outputs an alarm to the user informing them that the door of the private car is in a so-called "half-closed" state.

[0077] Furthermore, the external device 200 is a locking / unlocking control device, and the rotating body 20 may be a door in a house or the like. In this case, the locking / unlocking control device automatically controls and locks the door when the door is closed but the door lock is not locked, as detected by the rotation detection device 100.

[0078] In step S126, the rotation detection device 100 stops the operation of the angular velocity sensor 115 and terminates the process. Although Figure 9 shows the case where the closed state of the rotating body 20 is detected using both the threshold 228 and the dot product value, the closed state of the rotating body 20 can also be detected using either the threshold 228 or the dot product value. Furthermore, detecting the open and closed states of the rotating body 20 using the angular velocity sensor 115 is less susceptible to disturbances compared to detecting these states by attaching magnets or the like to the rotating body 20. In addition, the effort of attaching magnets or other accessories to the rotating body 20 is eliminated.

[0079] For example, in the technology shown in Patent Document 1 above, the rotational speed of the rotating body is integrated to convert it to rotational speed, and then the rotational speed is integrated again to determine the rotation angle of the door. Therefore, in such a device, the integration calculation is repeated twice, so the detected rotation angle of the rotating body is susceptible to errors and noise included in the output of the acceleration sensor. Furthermore, in such a device, it is not possible to accurately detect whether the opening opened and closed by the rotating body is in an open or closed state. However, according to the process shown in Figure 9, even if the rotation angle of the rotating body 20 is not precisely known, the closed and open states of the rotating body 20 can be accurately detected. In addition, according to the process shown in Figure 9, false detections that the rotating body 20 is in an open state when it is actually in a closed state are prevented. Furthermore, according to the process shown in Figure 9, even if disturbances such as noise and errors caused by the process of calculating the integral value accumulate, it is possible to accurately detect that the rotating body 20 has entered a closed state. In addition, according to the process shown in Figure 9, the open and closed states of the rotating body 20, whose steady state is not a closed state, can be accurately detected.

[0080] [Second Embodiment] The following describes a second embodiment in which the rotation detection device 100 is applied to the lock of a door installed at the entrance of a house or the like. The auto-lock control device 5 described as the second embodiment is an example of an external device 200. The auto-lock control device 5 automatically controls and locks the door lock when it detects that the door lock is closed after a certain amount of time has elapsed since the door was opened. Generally, auto-lock devices are used to enhance security by restricting the number of people who can enter the room from the outside.

[0081] Figures 10A and 10B are the first and second diagrams showing an automatic locking device 4 attached to the lock of a door 3 at the entrance of a house or the like. As shown in Figures 10A and 10B, the door 3 rotates around the axis of the hinge 22 when pushed manually by the user, similar to the rotating body 20 shown in Figures 3A and 3B.

[0082] The auto-lock device 4 is mounted on the support 43 of the lock (not shown) that is originally attached to the exterior side of the door 3, in a position that engages with the thumbturn (not shown) of the lock and does not interfere with the doorknob 42. The auto-lock device 4 has a main body case 40. The rotation detection device 100 and the auto-lock control device 5 shown in Figure 11 are housed inside the main body case 40.

[0083] Figure 11 is a block diagram showing an example of the configuration of an auto-lock control device 5 housed in the main body case 40 of the auto-lock device 4 shown in Figure 10A and Figure 10A, which controls the lock on the door 3 to lock and unlock it. As shown in Figure 11, the auto-lock control device 5 includes a control interface (control IF) 500, a motor 504, a motor drive circuit 502, and a rotation angle sensor 506.

[0084] The control interface 500 is electrically connected to each component of the rotation detection device 100 via control lines and data lines. The control interface 500 receives information from the rotation detection device 100 indicating whether the door 3 is open or closed, and outputs a control signal to the motor drive circuit 502. The control interface 500 also receives the rotation angle of the lock's thumbturn detected by the rotation angle sensor 506 and transmits it to the rotation detection device 100. The auto-lock control device 5 functions as a lock / unlock control device that controls the locking and unlocking of the door 3 using these components. In other words, the auto-lock control device 5 functions as an external device 200 that performs locking and unlocking based on the communication of the open or closed state detection result from the rotation detection device 100.

[0085] The motor drive circuit 502 drives and rotates the motor 504 according to a control signal input from the control interface 500. The motor 504 is connected to the thumbturn via a component so that it can rotate the thumbturn of the lock. When driven by the motor drive circuit 502, the motor 504 rotates the thumbturn of the lock, setting the lock to an unlocked or locked state. The rotation angle sensor 506 detects the rotation angle of the thumbturn of the lock and outputs it to the rotation detection device 100 via the control interface 500.

[0086] The following describes the process S14 of the auto-lock control device 5. Figure 12 is a diagram showing the processing flow of the auto-lock control device 5 shown in Figure 11. In step 140 shown in Figure 12, the control interface 500 of the auto-lock control device 5 receives the output signal of the rotation angle sensor 506. The auto-lock control device 5 proceeds to the process of S142 when the output signal of the rotation angle sensor 506 indicates rotation of the thumbturn (Y), and remains in the process of S140 when it does not indicate rotation (N).

[0087] In step S142, the control interface 500 of the auto-lock control device 5 transmits information to the rotation detection device 100 indicating that the thumbturn has rotated. Upon receiving this information, the rotation detection device 100 activates the angular velocity sensor 115. The control interface 500 causes the rotation detection device 100 to detect whether the door 3 is open or closed. Upon receiving information from the rotation detection device 100 indicating that the door 3 is open or closed, the auto-lock control device 5 proceeds to the process in S144.

[0088] In step S144, the control interface 500 determines whether or not the closed state of door 3 has been detected. The auto-lock control device 5 proceeds to process S150 if the closed state of door 3 is detected (Y), and to process S146 if it is not detected (N). Specifically, in S120 of Figure 9, information indicating that the rotating body is in a closed state is transmitted from the rotation detection device 100 to the auto-lock control device 5, and the auto-lock control device 5 determines whether or not it has received this information.

[0089] In step S146, the control interface 500 determines whether or not the door 3 is detected to be in an open state. Specifically, in S112 of Figure 9, information indicating that the rotating body is in an open state is transmitted from the rotation detection device 100 to the auto-lock control device 5, and the auto-lock control device 5 determines whether or not it has received this information. If the auto-lock control device 5 detects that the door 3 is in an open state (Y), it proceeds to the process in S148, and if it does not detect it (N), it returns to the process in S144.

[0090] In step S148, the control interface 500 transmits information to the rotation detection device 100 indicating that the door 3 is in the open state and therefore cannot be locked.

[0091] In step S150, the control interface 500 outputs a control signal to the motor drive circuit 502, which drives the motor 504. The motor 504 driven by the motor drive circuit 502 rotates, rotating the thumbturn of the door 3 lock in the locking direction, thereby locking the door.

[0092] In step S152, the control interface 500 transmits information to the rotation detection device 100 indicating that processing is complete. Upon receiving this information, the rotation detection device 100 stops the angular velocity sensor 115.

[0093] The process of the auto-lock control device 5 shown in Figure 12 ensures that the door 3 is locked by the auto-lock device 4, thereby improving the security of residences and other buildings equipped with the auto-lock device 4. Furthermore, according to the process shown in Figure 12, the start of rotation of the door 3 can be detected by the rotation of the thumbturn, allowing for more precise and easier control of the activation and deactivation of the angular velocity sensor 115 compared to the process shown in Figure 9. Although Figure 12 shows the case where the auto-lock control device 5 locks the door, the auto-lock control device 5 can also unlock the door by appropriately modifying the process.

[0094] [Third Embodiment] A third embodiment is described below. The external device 200 may be the surveillance camera 45 shown in Figures 10A and 10B. The surveillance camera 45 captures and monitors images of the door 3. For example, in S112 and S120 of Figure 9, the rotation detection device 100 transmits information to the surveillance camera 45 indicating that the rotating body is in the open state or that the rotating body is in the closed state. Upon receiving this information, the surveillance camera 45 starts taking pictures when it receives information indicating that the door 3 is in the closed state. The surveillance camera 45 also starts taking pictures when it receives information indicating that the door 3 is in the open state. In this way, by controlling the surveillance camera 45 with the rotation detection device 100, it is possible to identify the person who opened or closed the door 3, or to further improve the security of the monitored facility.

[0095] [Fourth Embodiment] The fourth embodiment is described below. In the first to third embodiments, the rotation detection device 100 was exemplified as being used to detect whether the rotating body 20 is in an open or closed state, and for locking and unlocking by the auto-lock control device 5 using the rotation detection device 100. However, the rotation detection device 100 has a wider range of applications. For example, when the rotation detection device 100 detects that the rotating body 20, such as a door in a house, is in an open state (S112 in Figure 9), it transmits information indicating that the rotating body 20 is in an open state to one of the external devices 200, such as a lighting device or an air conditioning device. The lighting device or air conditioning device that receives this information controls itself to turn on the lights or air conditioning. Conversely, when the rotation detection device 100 detects that the rotating body 20, such as a door in a house, is in a closed state (S120 in Figure 9), it transmits information indicating that the rotating body 20 is in a closed state to the lighting device or air conditioning device. The lighting device or air conditioning device that receives this information controls itself to turn off the lights or air conditioning. In this way, by utilizing the detection results of the rotation detection device 100 in the home appliance, it becomes possible to prevent forgetting to turn off the appliance and to maintain an appropriate indoor environment.

[0096] Furthermore, when the rotation detection device 100 detects that the rotating body 20, such as the door of the delivery box, is open (S112 in Figure 9), it transmits information indicating that the rotating body 20 is open to the administrator terminal device of the delivery box, which is one of the external devices 200. Upon receiving this information, the administrator terminal device notifies the administrator that the delivery box has been used. In this way, by utilizing the detection results of the rotation detection device 100 for the delivery box, smooth management of the delivery box becomes possible.

[0097] [Fifth Embodiment] The fifth embodiment will be described below. For example, when the residents of a residence are absent, it is possible to invite people other than the residents, such as house cleaning service providers, delivery people, or dry cleaners, into the residence. In such cases, the rotation detection device 100 is located at the entrance of the residence. ​By using this system on a door, it is possible to accurately inform the resident of the residence of whether the door has been opened or closed. Specifically, the rotation detection device 100 transmits information to the resident's terminal device indicating whether the rotating body 20, which is the door, is in an open or closed state (S112 or S120 in Figure 9). It also transmits this information to a surveillance camera installed on the door, similar to the third embodiment. This makes it possible to quickly detect when someone other than the resident has opened or closed the door, and to track the actions of that person. Furthermore, in the field of so-called intelligent houses and smart homes, it is possible to transmit to the resident's terminal device that the door has been locked or unlocked by a person other than the resident who has been pre-authenticated. This allows the resident to know when the door has been locked or unlocked. ​ While it is possible to know this, higher security can be achieved by receiving additional information from the rotation detection device 100.

[0098] [Sixth Embodiment] The sixth embodiment is described below. The external device 200 may be a terminal device of the company's administrative department. When the external device 200 is a terminal device of the company's administrative department, a door installed at the entrance of an office building or space of the company, the terminal device, and an IC card system capable of uniquely identifying each employee of the company are combined. In this case, by receiving information from the rotation detection device 100 placed on the door indicating whether the door, which is a rotating body 20, is open or closed (S112 or S120 in Figure 9), the time when each employee opened and closed the door of the office can be accurately detected and stored. Therefore, by combining and coordinating the auto-lock control device 5 and the IC card system, an access control system that can accurately manage the entry and exit times of company employees can be realized.

[0099] [Differentiation] As explained above, the rotation detection device 100 and its application devices can be used for a variety of purposes other than those exemplified above. For example, the rotation detection device 100 can be used to detect the opening and closing of doors on equipment mounted on aircraft, etc., and notify crew members and maintenance personnel, thereby improving the safety of aircraft and other transportation equipment. Alternatively, the rotation detection device 100 and its application devices can be applied to the lid of a container, which is a rotating body, to notify nearby workers that the lid of the container is open. By configuring the rotation detection device 100 and its application devices in this way, leakage of chemicals inside the container can be prevented.

[0100] The processes and procedures relating to this disclosure are those described expressly in the embodiments of the apparatus ​ Furthermore, these processes and procedures can be implemented not only by means of software, hardware, or a combination thereof. Specifically, the processes and procedures described herein can be implemented by implementing the logic corresponding to the process on a medium such as an integrated circuit, volatile memory, non-volatile memory, magnetic disk, or optical storage. In addition, the processes and procedures described herein can be implemented as computer programs. ​ It can be executed by various types of computers, including terminal devices and server devices.

[0101] In this specification, processes and procedures described as being performed by a single device, software, component, and / or module may be performed by multiple devices, multiple software programs, multiple components, and / or multiple modules. Furthermore, various types of information described in this specification as being stored in a single memory and storage device may be stored in multiple memories contained within a single device or distributed across multiple memories located in multiple devices. Moreover, the multiple software and hardware described in this specification may be realized by integrating them into fewer components or by decomposing them into more components.

[0102] While embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be carried out in various other forms and may be omitted, replaced, or modified in various ways without departing from the spirit of the invention. These embodiments and their variations are included within the scope and spirit of the present invention and within the scope of the invention and its equivalents as described in the claims. [Explanation of Symbols]

[0103] 1 System, 100 Rotation detection device, 111 Memory, 112 Processor, 114 Communication interface, 115 Angular velocity sensor, 20 Rotating body, 200 External device, 22 Hinges, 225, 226 Vectors, 227, 228 Thresholds, 3 Door, 4 Auto-lock device, 40 Main case, 42 Door knob, 43 Support, 44 Thumbturn, 45 Surveillance camera, 5 Auto-lock control device, 500 Control interface, 502 Motor drive circuit, 504 Motor, 506 Rotation angle sensor

Claims

1. The system includes an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, The at least one processor is A rotation angle calculation process that calculates a first rotation angle at any point in time while the rotating body is rotated in the direction of opening from the origin of the rotation angle based on the angular velocity sensor, and a second rotation angle at any point in time while the rotating body is rotated in the direction of closing, opposite to the opening direction, after the rotation operation has been performed. A first vector storage process that stores a first vector from the origin at the point when the magnitude of the first rotation angle exceeds a first threshold to the position of the rotating body at the point when the magnitude exceeds the first threshold. A second vector calculation process for calculating a second vector formed by the second rotation angle from the origin at any given time to the position of the rotating body at any given time, A state detection process for detecting the state of the rotating body, It is configured to perform the following actions: The at least one processor performs a process in the state detection process to detect that the rotating body is in a closed state if the dot product of the first vector at the time when the magnitude of the first rotation angle exceeds the first threshold and the second vector at any given time is negative. A rotation detection device that performs the following actions.

2. The rotation detection device according to claim 1, wherein the at least one processor detects in the state detection process whether the rotating body is in an open state or in a closed state based on the first rotation angle, the second rotation angle, and a predetermined threshold.

3. The rotation detection device according to claim 1, wherein in the state detection process, at least one processor detects that the rotating body is in the closed state when the magnitude of the second rotation angle is equal to or less than the second threshold which is smaller than the first threshold.

4. The at least one processor is further configured to perform a stability determination process for determining the stability of the rotating body, The at least one processor, in the stability determination process, A state in which the dot product of the first vector at the time when the magnitude of the first rotation angle exceeds the first threshold and the second vector at any given time is negative, or The state in which the magnitude of the second rotation angle is less than or equal to the second threshold, which is smaller than the first threshold, If this continues for a predetermined period of time, A process to output information indicating the closed state of the rotating body detected in the state detection process, The rotation detection device according to claim 1, which performs the following:

5. comprising an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, The at least one processor is A rotation angle calculation process that calculates a first rotation angle at any point in time while the rotating body is rotated in the direction of opening from the origin of the rotation angle based on the angular velocity sensor, and a second rotation angle at any point in time while the rotating body is rotated in the direction of closing, opposite to the opening direction, after the rotation operation has been performed. A first vector storage process that stores a first vector from the origin at the point when the magnitude of the first rotation angle exceeds a first threshold to the position of the rotating body at the point when the magnitude exceeds the first threshold. A second vector calculation process for calculating a second vector formed by the second rotation angle from the origin at any given time to the position of the rotating body at any given time, A state detection process for detecting the state of the rotating body, Stability determination process for determining the stability of the rotating body, It is configured to perform the following actions: The at least one processor, in the stability determination process, If the dot product of the first vector at the time when the magnitude of the first rotation angle exceeds the first threshold and the second vector at any given time remains negative for a predetermined period of time, the state detection process outputs information indicating the closed state of the rotating body detected. A rotation detection device that performs the following actions.

6. A computer comprising an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, wherein the method is performed by the at least one processor executing a predetermined instruction command, A first rotation angle calculation step, which calculates a first rotation angle at any point in time while the rotating body is rotated in the direction of opening from the origin of the rotation angle based on the angular velocity sensor, A first vector storage step that stores a first vector from the origin at the point when the magnitude of the first rotation angle exceeds a first threshold to the position of the rotating body at the point when the magnitude exceeds the first threshold, A second rotation angle calculation step, which calculates the second rotation angle at any point in time between the rotation operation performed and the rotation operation performed in the closing direction opposite to the opening direction, A second vector calculation step for calculating the second vector formed by the second rotation angle from the origin at any given time to the position of the rotating body at any given time, A state detection step for detecting the state of the rotating body, Includes, In the state detection step, if the dot product of the first vector at the time when the magnitude of the first rotation angle exceeds the first threshold and the second vector at any given time is negative, it is detected that the rotating body is in a closed state. method.

7. A computer comprising an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, wherein the at least one processor executes a predetermined instruction command, A first rotation angle calculation step, which calculates a first rotation angle at any point in time while the rotating body is rotated in the direction of opening from the origin of the rotation angle based on the angular velocity sensor, A first vector storage step that stores a first vector from the origin at the point when the magnitude of the first rotation angle exceeds a first threshold to the position of the rotating body at the point when the magnitude exceeds the first threshold, A second rotation angle calculation step, which calculates the second rotation angle at any point in time between the rotation operation performed and the rotation operation performed in the closing direction opposite to the opening direction, A second vector calculation step for calculating the second vector formed by the second rotation angle from the origin at any given time to the position of the rotating body at any given time, A state detection step for detecting the state of the rotating body, A stability determination step for determining the stability of the rotating body, Includes, In the stability determination step, if the dot product of the first vector at the time when the magnitude of the first rotation angle exceeds the first threshold and the second vector at any given time remains negative for a predetermined period of time, then information indicating the closed state of the rotating body detected in the state detection step is output. method.

8. A computer comprising an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, A rotation angle calculation process that calculates a first rotation angle at any point in time while the rotating body is rotated in the direction of opening from the origin of the rotation angle based on the angular velocity sensor, and a second rotation angle at any point in time while the rotating body is rotated in the direction of closing opposite to the opening direction after the rotation operation has been performed. A first vector storage process that stores a first vector from the origin at the point when the magnitude of the first rotation angle exceeds a first threshold to the position of the rotating body at the point when the magnitude exceeds the first threshold, A second vector calculation process that calculates a second vector formed by the second rotation angle from the origin at any given time to the position of the rotating body at any given time, A state detection process for detecting the state of the rotating body, Make it run, In the state detection process, if the dot product of the first vector at the time when the magnitude of the first rotation angle exceeds the first threshold and the second vector at any given time is negative, the process detects that the rotating body is in a closed state. A program to execute.

9. A computer comprising an angular velocity sensor attached to a rotating body and configured to detect the angular velocity of the rotating body, and at least one processor configured to perform control based on the angular velocity detected by the angular velocity sensor, A rotation angle calculation process that calculates a first rotation angle at any point in time while the rotating body is rotated in the direction of opening from the origin of the rotation angle based on the angular velocity sensor, and a second rotation angle at any point in time while the rotating body is rotated in the direction of closing opposite to the opening direction after the rotation operation has been performed. A first vector storage process that stores a first vector from the origin at the point when the magnitude of the first rotation angle exceeds a first threshold to the position of the rotating body at the point when the magnitude exceeds the first threshold, A second vector calculation process that calculates a second vector formed by the second rotation angle from the origin at any given time to the position of the rotating body at any given time, A state detection process for detecting the state of the rotating body, A stability determination process for determining the stability of the rotating body, Make it run, In the stability determination process, if the dot product of the first vector at the time when the magnitude of the first rotation angle exceeds the first threshold and the second vector at any given time remains negative for a predetermined period of time, then the process outputs information indicating the closed state of the rotating body detected in the state detection process. A program to execute.

Images